US 12,259,464 B2
Radar map layer in a crowdsourced HD map
Mandar Narsinh Kulkarni, South Plainfield, NJ (US); Jubin Jose, Basking Ridge, NJ (US); and Muryong Kim, Madison, NJ (US)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Apr. 8, 2022, as Appl. No. 17/658,619.
Prior Publication US 2023/0324543 A1, Oct. 12, 2023
Int. Cl. G01S 13/89 (2006.01); G01S 13/58 (2006.01); G06F 18/23 (2023.01); G06F 18/2433 (2023.01)
CPC G01S 13/89 (2013.01) [G01S 13/581 (2013.01); G06F 18/23 (2023.01); G06F 18/2433 (2023.01)] 41 Claims
OG exemplary drawing
 
1. A method of obtaining data at a vehicle for a radar layer of a map, the method comprising:
obtaining, with a radar at the vehicle, radar data within a geographical region corresponding to at least a portion of the map, the radar data comprising a plurality of frames;
filtering the radar data to remove data generated by moving objects, wherein filtering the radar data comprises identifying, on a per-frame basis, the data generated by the moving objects using:
a Doppler velocity measured by the radar, and
linear and angular velocities of the vehicle when the radar data was obtained, the linear and angular velocities based on vehicle speed determined from a non-radar source; and
selectively transmitting the filtered radar data from the vehicle to at least one device, wherein the transmitting is responsive to:
(i) a determination that a confidence metric, indicative of a confidence level of a 6-DOF position estimate of the vehicle, exceeds a confidence metric threshold level;
(ii) a determination that a reliance metric, indicative of a reliance level of the 6-DOF position estimate of the vehicle on the radar data, exceeds a reliance metric threshold level; or
a combination thereof.